CN107246935B - Spaceborne rotating camera on-line dynamic balancing control method and system - Google Patents
Spaceborne rotating camera on-line dynamic balancing control method and system Download PDFInfo
- Publication number
- CN107246935B CN107246935B CN201710359146.9A CN201710359146A CN107246935B CN 107246935 B CN107246935 B CN 107246935B CN 201710359146 A CN201710359146 A CN 201710359146A CN 107246935 B CN107246935 B CN 107246935B
- Authority
- CN
- China
- Prior art keywords
- angle
- rotating camera
- vibratory output
- spaceborne
- balancing head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/14—Determining unbalance
- G01M1/16—Determining unbalance by oscillating or rotating the body to be tested
Abstract
The embodiment of the present invention provides a kind of spaceborne rotating camera on-line dynamic balancing control method and system, the described method includes: keeping current location of the balancing head relative to spaceborne rotating camera, with first angle, it adjusts in the balancing head each balance weight and adjusts relative angle of the balance weight relative to the spaceborne rotating camera in the balancing head relative to the relative angle of the spaceborne rotating camera and with second angle, and after with third angle adjusting relative angle of the balance weight of another in the balancing head relative to the spaceborne rotating camera, it measures respectively, measure the corresponding vibration information of motion state that spaceborne rotating camera moves online；The corresponding vibratory output of each vibration information and fixed amount etc. are calculated based on vibration information, finally in the case where not having to the initial angle of clear balance weight, simplicity determines adjustment amount of the balance weight relative to current angular, by adjusting making the online movement of spaceborne rotating camera reach balance requirement condition.
Description
Technical field
The present invention relates to space technology field more particularly to a kind of spaceborne rotating camera on-line dynamic balancing control method and it is
System.
Background technique
Rotating camera is one of important component of satellite, the rotating camera being mounted on satellite, referred to as spaceborne rotation phase
Machine.It needs quickly accurately to image target when spaceborne rotating camera operation on orbit, be imaged, this turns entire satellite and camera
The balance and stabilization of son propose very high requirement.Spaceborne rotating camera design assembling process in mass eccentricity can make its
Rail can make satellite and camera generate eccentric vibrating during working, even very faint vibration can also seriously threaten phase
The alignment precision of machine camera shooting, at the same also the attitude stabilization to entire satellite and service life bring totally unfavorable influence, therefore must
The influence of amount of unbalance must be eliminated as far as possible using automatic balancing technology.
The method of dynamic balancing control is the core and key of entire dynamic balancing technique, is also largely determined entire
The overall performance of dynamic balancing scheme.Existing dynamic balancing control method mostly primarily directed to all kinds of big machineries, they or
Process complexity or control precision and speed are unable to satisfy the requirement fast for dynamic balancing of rotating camera on star, especially uneven
The very weak situation of vibration signal, these methods cannot achieve effective balance on-line, therefore develop and be suitable for being directed to such rotor
Dynamic balancing control method, with reduce existing rotating camera dynamic balancing realize complexity, or promoted precision technical side
Case is very urgent.
Summary of the invention
In view of this, an embodiment of the present invention is intended to provide a kind of spaceborne rotating camera on-line dynamic balancing control method and being
System, it is expected that solving the above problems.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
First aspect of the embodiment of the present invention provides a kind of spaceborne rotating camera on-line dynamic balancing control method, comprising:
Current location of the balancing head relative to spaceborne rotating camera is kept, the movement that spaceborne rotating camera moves online is measured
State, to obtain the first vibration information；
Based on first vibration information, the first vibratory output is calculated；
With first angle, relative angle of each balance weight relative to the spaceborne rotating camera in the balancing head is adjusted
Degree,
The motion state that the spaceborne rotating camera moves online is re-measured after the adjustment, measures the second vibration information；
Based on second vibration information, the second vibratory output is calculated；
Based on first vibratory output, second vibratory output and the first angle, fixed amount is calculated；
A balance weight is adjusted in the balancing head relative to the opposite of the spaceborne rotating camera with second angle
Angle, and the balance weight of another in the balancing head is adjusted relative to the opposite of the spaceborne rotating camera with third angle
Angle；Wherein, opposite number, the sum of the third angle and the first angle are each other for the first angle and second angle
180 degree；
The motion state that the spaceborne rotating camera moves online is re-measured after adjustment, measures third vibration information；
Based on the third vibration information, third vibratory output is calculated；
Based on second vibratory output, the third vibratory output and the fixed amount, calculate described in the balancing head two
The corresponding tangent value of angle between balance weight；
Based on the first angle and first vibratory output and the tangent value, the balancing head is calculated relative to institute
State the angle adjusting parameter of spaceborne rotating camera.
Based on above scheme, the method also includes:
Based on the angle adjusting parameter, relative angle of the balance weight relative to the spaceborne rotating camera is adjusted；
Judge whether the motion state of the spaceborne rotating camera after adjusting meets balance requirement condition；
When the motion state of the spaceborne rotating camera adjusted is unsatisfactory for the balance requirement condition, described in measurement
The motion state that spaceborne rotating camera moves online is measured, the first vibration information, and first based on reacquisition are reacquired
Vibration information recalculates the first vibratory output；
Recalculate the corresponding tangent value of angle between two balance weights of the balancing head；
Based on the first angle and the first vibratory output recalculated and the tangent value recalculated, recalculate
Angle adjusting parameter of the balancing head relative to the spaceborne rotating camera out.
Based on above scheme, the method also includes:
When the motion state of the spaceborne rotating camera adjusted meets the balance requirement condition, the star is judged
Whether the moving equilibrium for carrying rotating camera reaches predetermined balance quality；
When the moving equilibrium of the spaceborne rotating camera is not up to predetermined balance quality, the spaceborne rotation of measurement is measured
The motion state that camera moves online reacquires the first vibration information, and the first vibration information based on reacquisition, again
Calculate the first vibratory output；
Recalculate the corresponding tangent value of angle between two balance weights of the balancing head；
Based on the first angle and the first vibratory output recalculated and the tangent value recalculated, recalculate
Angle adjusting parameter of the balancing head relative to the spaceborne rotating camera out.
Based on above scheme, first vibratory output, the second vibratory output or third vibratory output are calculated using following formula；
Wherein, XsThe amplitude vector constituted for the vibration amplitude that s vibration information provides；The A is balance correction plane
The influence coefficient matrix of vibration information is obtained to test；The m is the quality of the balance weight；The f1 sFor s Vibration Parameter
In one；The f2 sFor another of the s Vibration Parameter；Wherein, the value of the s is 0,1 or 2, when taking for the s
When value is 0, f1 sAnd f2 sFor first vibratory output；When the value of the s is 1, f1 sAnd f2 sFor second vibratory output；When
When the value of the s is 2, f1 sAnd f2 sFor the third vibratory output.
It is described to be based on first vibratory output, second vibratory output and the first angle based on above scheme, it calculates
Fixed amount, comprising:
The fixed amount t is calculated using following formula1And t2
Wherein,WithFor first vibratory output；WithFor second vibratory output；γ is the first angle.
Based on above scheme, the corresponding tangent value of angle between two balance weights of the balancing head is calculated, comprising:
The tangent value Z is calculated using following formula1And Z2；
Wherein, describedWithFor first vibratory output；It is describedWithFor the third vibratory output；
The φ11Current angular for the first balance weight in the first balancing head relative to the spaceborne rotating camera；
The φ12Current angular for the second balance weight in the first balancing head relative to the spaceborne rotating camera；
The φ21Current angular for the first balance weight in the second balancing head relative to the spaceborne rotating camera；
The φ22Current angular for the second balance weight in the second balancing head relative to the spaceborne rotating camera.
Based on above scheme, the angle adjusting parameter Δ is calculated using following formula11、Δ12、Δ21And Δ22；
Wherein, Z1And Z2For tangent value；t1And t2For the fixed amount；γ is the first angle；
It is describedWithFor first vibratory output；
The Δ11Angle adjustment amount for the first balance weight in the first balancing head relative to the spaceborne rotating camera；
The Δ12Angle adjustment amount for the second balance weight in the first balancing head relative to the spaceborne rotating camera；
The Δ21Angle adjustment amount for the first balance weight in the second balancing head relative to the spaceborne rotating camera；
The Δ22Angle adjustment amount for the second balance weight in the second balancing head relative to the spaceborne rotating camera.
Second aspect of the embodiment of the present invention provides a kind of spaceborne rotating camera on-line dynamic balancing control system, including measurement list
Member, computing unit and adjustment unit；
The measuring unit, for keeping balancing head to measure spaceborne rotation relative to the current location of spaceborne rotating camera
The motion state that camera moves online, to obtain the first vibration information；
The computing unit calculates the first vibratory output for being based on first vibration information；
The adjustment unit adjusts in the balancing head each balance weight relative to the star for first angle
The relative angle of rotating camera is carried,
The measuring unit is also used to re-measure the movement shape that the spaceborne rotating camera moves online after the adjustment
State measures the second vibration information；
The computing unit is also used to calculate the second vibratory output based on second vibration information；Based on first vibration
Momentum, second vibratory output and the first angle calculate fixed amount；
The adjustment unit is also used to a balance weight in the second angle adjustment balancing head relative to described
The relative angle of spaceborne rotating camera, and with another described balance weight in the third angle adjustment balancing head relative to described
The relative angle of spaceborne rotating camera；Wherein, the first angle and second angle opposite number each other, the third angle and institute
Stating the sum of first angle is 180 degree；
The measuring unit is also used to re-measure the motion state that the spaceborne rotating camera moves online after adjusting,
Measure third vibration information；
The computing unit is also used to calculate third vibratory output based on the third vibration information；And it is based on described second
It is corresponding to calculate angle between two balance weights of the balancing head for vibratory output, the third vibratory output and the fixed amount
Tangent value；Based on the first angle and first vibratory output and the tangent value, the balancing head is calculated relative to institute
State the angle adjusting parameter of spaceborne rotating camera.
Based on above scheme, the adjustment unit is also used to adjust the balance weight phase based on the angle adjusting parameter
For the relative angle of the spaceborne rotating camera；
The system also includes:
Judging unit requires item for judging whether the motion state of the spaceborne rotating camera after adjusting meets balance
Part；
The computing unit is also used to be unsatisfactory for the balance when the motion state of the spaceborne rotating camera adjusted
When requirement condition, based on the current angle position of the balance weight, recalculate between two balance weights of the balancing head
The corresponding tangent value of angle；Based on the first angle and first vibratory output and the tangent value recalculated, again
Calculate angle adjusting parameter of the balancing head relative to the spaceborne rotating camera.
Based on above scheme, the judging unit is also used to the motion state when the spaceborne rotating camera adjusted
When meeting the balance requirement condition, judge whether the moving equilibrium of the spaceborne rotating camera reaches predetermined balance quality；
The computing unit is also used to when the moving equilibrium of the spaceborne rotating camera is not up to predetermined balance quality,
The motion state that the spaceborne rotating camera of measurement moves online is measured, reacquires the first vibration information, and be based on obtaining again
The first vibration information taken, recalculates the first vibratory output；Recalculate angle between two balance weights of the balancing head
Corresponding tangent value；Based on the first angle and the first vibratory output recalculated and the tangent value recalculated, weight
Newly calculate angle adjusting parameter of the balancing head relative to the spaceborne rotating camera.
Based on above scheme, the computing unit is specifically used for calculating first vibratory output, second using following formula
Vibratory output or third vibratory output；
Wherein, XsThe amplitude vector constituted for the vibration amplitude that s vibration information provides；The A is balance correction plane
The influence coefficient matrix of vibration information is obtained to test；The m is the quality of the balance weight；It is describedFor s Vibration Parameter
In one；It is describedFor another of the s Vibration Parameter；Wherein, the value of the s is 0,1 or 2, when taking for the s
When value is 0, f1 sWithFor first vibratory output；When the value of the s is 1,WithFor second vibratory output；When
When the value of the s is 2,WithFor the third vibratory output.
Based on above scheme, the computing unit is specifically used for calculating the fixed amount t using following formula1And t2
Wherein,WithFor first vibratory output；WithFor second vibratory output；γ is described first jiao
Degree.
Based on above scheme, the computing unit is specifically used for calculating the tangent value Z using following formula1And Z2；
Wherein, describedWithFor first vibratory output；It is describedWithFor the third vibratory output；
The φ11Current angular for the first balance weight in the first balancing head relative to the spaceborne rotating camera；
The φ12Current angular for the second balance weight in the first balancing head relative to the spaceborne rotating camera；
The φ21Current angular for the first balance weight in the second balancing head relative to the spaceborne rotating camera；
The φ22Current angular for the second balance weight in the second balancing head relative to the spaceborne rotating camera.
Based on above scheme, the computing unit calculates the angle adjusting parameter also particularly useful for using following formula
Δ11、Δ12、Δ21And Δ22；
Wherein, Z1And Z2For tangent value；t1And t2For the fixed amount；γ is the first angle；
It is describedWithFor first vibratory output；
The Δ11Angle adjustment amount for the first balance weight in the first balancing head relative to the spaceborne rotating camera；
The Δ12Angle adjustment amount for the second balance weight in the first balancing head relative to the spaceborne rotating camera；
The Δ21Angle adjustment amount for the first balance weight in the second balancing head relative to the spaceborne rotating camera；
The Δ22Angle adjustment amount for the second balance weight in the second balancing head relative to the spaceborne rotating camera.
Spaceborne rotating camera on-line dynamic balancing control method and system provided in an embodiment of the present invention, can be in balancing head
Each balance weight initial position do not know in the case where, by repeatedly twice relative to spaceborne rotating camera angle adjust, and
Before adjustment and the measurement of vibration information adjusted and the calculating of vibratory output, it is flat quickly to calculate in each balancing head each
Weighing apparatus block is for the adjustment of angle needed for making the equilibrium state of spaceborne rotating camera during exercise reach preset balance requirement condition
Parameter has the characteristics that calculating is quick and with high accuracy, can effectively inhibit spaceborne rotating camera during the motion because certainly
The problems such as deviation of body mass center etc. is vibration noise caused by inscribing, realizes accurate control dynamically balanced to spaceborne rotating camera.
Detailed description of the invention
Fig. 1 is that the present embodiment provides the flow diagrams of the first spaceborne rotating camera on-line dynamic balancing control method；
Fig. 2 is that the present embodiment provides the flow diagrams of second of spaceborne rotating camera on-line dynamic balancing control method；
Fig. 3 is that the present embodiment provides the structural schematic diagrams of the first spaceborne rotating camera on-line dynamic balancing control system；
Fig. 4 is a kind of adjustment schematic diagram of balancing head provided in an embodiment of the present invention；
Fig. 5 is that the process of the third spaceborne rotating camera on-line dynamic balancing control method provided in an embodiment of the present invention is illustrated
Figure.
Specific embodiment
Technical solution of the present invention is further described in detail with reference to the accompanying drawings and specific embodiments of the specification.
As shown in Figure 1, the present embodiment provides a kind of spaceborne rotating camera on-line dynamic balancing control methods, comprising:
Step S110: current location of the balancing head relative to spaceborne rotating camera is kept, it is online to measure spaceborne rotating camera
The motion state of movement, to obtain the first vibration information；
Step S120: being based on first vibration information, calculates the first vibratory output；
Step S130: with first angle, each balance weight is adjusted in the balancing head relative to the spaceborne rotation phase
The relative angle of machine；
Step S140: the motion state that the spaceborne rotating camera moves online, measurement second are re-measured after the adjustment
Vibration information；
Step S150: being based on second vibration information, calculates the second vibratory output；
Step S160: being based on first vibratory output, second vibratory output and the first angle, calculates fixed amount；
Step S170: with a balance weight in the second angle adjustment balancing head relative to the spaceborne rotation phase
The relative angle of machine, and with another described balance weight in the third angle adjustment balancing head relative to the spaceborne rotation phase
The relative angle of machine；Wherein, the first angle and second angle opposite number each other, the third angle and the first angle
The sum of be 180 degree；
Step S180: the motion state that the spaceborne rotating camera moves online, measurement third vibration are re-measured after adjustment
Dynamic information；
Step S190: being based on the third vibration information, calculates third vibratory output；
Step S200: it is based on second vibratory output, the third vibratory output and the fixed amount, calculates the balancing head
The corresponding tangent value of angle between two balance weights；
Step S210: based on the first angle and first vibratory output and the tangent value, the balance is calculated
Angle adjusting parameter of the head relative to the spaceborne rotating camera.
A kind of rotatable camera of Seeds of First Post-flight is provided in the present embodiment, and this spaceborne rotating camera includes:
Fixed part and the rotating camera that can be rotated referring now to fixed part.
Due to the difference of the various materials of the internal structure and internal structure of camera, it may result in rotating camera and exist
Occurs rotating eccentricity in rotary course, so as to cause the radial inclined of the extending direction (i.e. axial rotary) perpendicular to rotary shaft
It moves, thus may result in radial vibration.
It is in the present embodiment the balancing device of the moving equilibrium of the spaceborne rotating camera, it is described in the present embodiment flat
The device that weighs includes at least a balancing head, under normal conditions includes: at least two balancing heads, each balancing head is located relative to
In the diametric plane of rotating camera different height.Each described balancing head includes at least: two balance weights.
In the present embodiment in step s 110 firstly, keep balancing head relative to spaceborne rotating camera current location or
Current angle position is different, makes the spaceborne rotating camera movement, the motion state of measurement star camera motion again, to obtain institute
State the first vibration information.First vibration information can include at least in the present embodiment: spaceborne rotating camera is in sagittal plane
Oscillation Amplitude and/or the information such as vibration frequency.
It is based on first vibration information in the step s 120, calculates the first vibratory output；First vibratory output can be
The combination of multiple vibratory outputs, for example, can distinguish inside the corresponding vibratory output combination of multiple balancing heads or each balancing head
The combination of the vibratory output of multiple balance weights.
After obtaining first vibration information, position of the adjustable balancing head relative to spaceborne rotating camera, example
Such as, with two balance weights in one balancing head of first angle synchronous adjustment, adjustment and then secondary to spaceborne rotation phase is completed
The motion state of machine measures, to obtain the second vibration information, which can be used for calculating the second vibratory output.
It, can one balancing head of negative first angle (i.e. second angle) adjustment after the acquisition for completing the second vibration information
In a balance weight.Another balance weight is adjusted with third angle, measures the motion state of spaceborne rotating camera again, thus
Obtain third vibration information.
In conjunction with the first vibratory output, the second vibratory output, fixed amount can be calculated.
In conjunction with the first vibratory output and the second vibratory output, angle pair between two balance weights can be calculated in each balancing head
The tangent value answered.
Based on the tangent value, the first vibratory output and third vibratory output and first angle can shift onto out in order to enable spaceborne
The current motion state of rotating camera balances, the angle of adjustment needed for each balance weight in each balancing head, i.e., described
Angle adjusting parameter.If balance weight is balanced adjustment according to the angle adjusting parameter, the balance tune with spaceborne rotating camera
The good feature of whole effect.Here angle adjusting parameter, it may include: relative angle between two balance weights in a balancing head
The adjustment amount of degree, and/or, the various parameters such as average adjustment angle of the angle adjustment amount of each balance weight, balance weight.
Optionally, the method also includes:
Based on the angle adjusting parameter, relative angle of the balance weight relative to the spaceborne rotating camera is adjusted；
Judge whether the motion state of the spaceborne rotating camera after adjusting meets balance requirement condition；
It is again spaceborne when the motion state of the spaceborne rotating camera adjusted is unsatisfactory for the balance requirement condition
The measurement of first vibration information of rotating camera, and the first vibratory output is recalculated based on the first vibration information, and recalculate
The corresponding tangent value of angle between two balance weights of the balancing head；
Based on the first angle and the first vibratory output recalculated and the tangent value recalculated, recalculate
Angle adjusting parameter of the balancing head relative to the spaceborne rotating camera out.
Judge whether to meet balance requirement condition in the present embodiment, it can be by the balance weight based on angle adjusting parameter
Angle adjustment after, the motion state that can measure spaceborne rotating camera again obtains vibration information, when vibration information shows
The spaceborne rotating camera is less than amplitude threshold in radial vibration amplitude peak, and/or when the vibration frequency is lower than frequency threshold value,
It is believed that meeting the balance requirement condition；It certainly is only a kind of mode for verifying whether to meet equilibrium condition here, specific
Realization during, can also be verified by other means.
If not up to balance requires, it is obviously desirable to adjust again.Required execution is adjusted in this adjustment in order to reduce
Operation, is directly based upon current angular of the balance weight currently relative to spaceborne rotating camera, recalculates the tangent amount, then be based on
Predetermined first angle, the first vibratory output, recalculate angle adjusting parameter, by the adjustment that iterates, it is final so that
Equilibrium state when obtaining spaceborne rotating camera movement meets the balance requirement condition.
In some embodiments, as shown in Fig. 2, the method also includes:
Step S220: when the motion state of the spaceborne rotating camera adjusted meets the balance requirement condition,
Judge whether the moving equilibrium of the spaceborne rotating camera reaches predetermined balance quality；
Step S230: when the moving equilibrium of the spaceborne rotating camera is not up to predetermined balance quality, the survey is measured
The motion state that spaceborne rotating camera moves online is measured, the first vibration information is reacquired, and the based on reacquisition first vibration
Dynamic information, recalculates the first vibratory output；Recalculate the corresponding tangent of angle between two balance weights of the balancing head
Value；
Step S240: based on the first angle and first vibratory output recalculated and recalculate it is described just
Value is cut, angle adjusting parameter of the balancing head relative to the spaceborne rotating camera is recalculated.
The equilibrium state of spaceborne rotating camera has higher precision in the present embodiment, in the present embodiment in order to obtain most
Whether good equilibrium state, judges to be unsatisfactory in the present embodiment after the balance requirement condition, also judge currently
Reached predetermined balance quality, predetermined balance quality here can be the highest balance quality or secondary height of the spaceborne rotating camera
Balance quality.If the not up to described balance is accurate, the step of calculating tangent value can be again returned to, tangent value is recalculated and obtains again
Angle adjusting parameter is obtained, adjustment is iterated, until reaching the predetermined balance quality.If having reached predetermined Adjustment precision,
Even if illustrating to jump again and balance requirement condition may also be not achieved, the Infinite Cyclic that adjustment may cause adjustment repeatedly instead, which reaches, is asked
Topic, to reduce unnecessary calculation amount.
Optionally, first vibratory output, the second vibration are calculated using following formula in step S120, S150 and S190
Momentum or third vibratory output；
Wherein, XsThe amplitude vector constituted for the vibration amplitude that s vibration information provides；The A is balance correction plane
The influence coefficient matrix of vibration information is obtained to test；The m is the quality of the balance weight；It is describedFor s Vibration Parameter
In one；It is describedFor another of the s Vibration Parameter；Wherein, the value of the s is 0,1 or 2, when taking for the s
When value is 0,WithFor first vibratory output；When the value of the s is 1,WithFor second vibratory output；When
When the value of the s is 2,WithFor the third vibratory output.
Optionally, the step S200 can include:
The fixed amount t is calculated using following formula1And t2
Wherein,WithFor first vibratory output；WithFor second vibratory output；γ is the first angle.
Here the calculation of the first vibratory output and the second vibratory output may refer to aforementioned formula 1, but be not limited to public affairs
Formula (1)
Optionally, it in the iterative process of step S210 and subsequent tangent amount, can be calculated using following formula (3)
The corresponding tangent value of angle between two balance weights of the balancing head, comprising:
The tangent value Z is calculated using following formula1And Z2；
Wherein, describedWithFor first vibratory output；It is describedWithFor the third vibratory output；
The φ11Current angular for the first balance weight in the first balancing head relative to the spaceborne rotating camera；
The φ12Current angular for the second balance weight in the first balancing head relative to the spaceborne rotating camera；
The φ21Current angular for the first balance weight in the second balancing head relative to the spaceborne rotating camera；
The φ22Current angular for the second balance weight in the second balancing head relative to the spaceborne rotating camera.
Further, the angle adjusting parameter Δ is calculated using following formula11、Δ12、Δ21And Δ22；
Wherein, Z1And Z2For tangent value；t1And t2For the fixed amount；γ is the first angle；
It is describedWithFor first vibratory output；
The Δ11Angle adjustment amount for the first balance weight in the first balancing head relative to the spaceborne rotating camera；
The Δ12Angle adjustment amount for the second balance weight in the first balancing head relative to the spaceborne rotating camera；
The Δ21Angle adjustment amount for the first balance weight in the second balancing head relative to the spaceborne rotating camera；
The Δ22Angle adjustment amount for the second balance weight in the second balancing head relative to the spaceborne rotating camera.
In the present embodiment the angle adjusting parameter be all in balance weight relative to spaceborne rotating camera where it is current
It is adjusted on the basis of angle.
It is worth noting that, when recalculating tangent value, following formula can be used after based on adjusting parameter adjustment
It calculates:
Here the Z on the equation left side1' and Z2' it is the tangent amount being calculated again；And the Z on the right of equation1, Z2It is then again
Tangent amount before calculating.
When carrying out adjustment repeatedly again, it can use above-mentioned formula and iterate to calculate out tangent amount, relative to surveying repeatedly
Two vibratory output of flow control, third vibratory output calculate tangent amount, greatly simplified calculation amount, accelerate angle adjusting parameter really
Constant speed rate.
As shown in figure 3, the present embodiment provides a kind of spaceborne rotating camera on-line dynamic balancing control system, including measuring unit
110, computing unit 120 and adjustment unit 130:
The measuring unit 110, for keeping balancing head to measure spaceborne rotation relative to the current location of spaceborne rotating camera
The motion state that phase inversion machine moves online, to obtain the first vibration information；
The computing unit 120 calculates the first vibratory output for being based on first vibration information；
The adjustment unit 130 adjusts in the balancing head each balance weight relative to described for first angle
The relative angle of spaceborne rotating camera,
The measuring unit 110 is also used to re-measure the movement that the spaceborne rotating camera moves online after the adjustment
State measures the second vibration information；
The computing unit 120 is also used to calculate the second vibratory output based on second vibration information；Based on described
One vibratory output, second vibratory output and the first angle calculate fixed amount；
The adjustment unit 130, be also used to adjust with second angle in the balancing head balance weight relative to
The relative angle of the spaceborne rotating camera, and with third angle adjust in the balancing head another described balance weight relative to
The relative angle of the spaceborne rotating camera；Wherein, the first angle and second angle opposite number each other, the third angle
It is 180 degree with the sum of the first angle；
The measuring unit 110 is also used to re-measure the movement shape that the spaceborne rotating camera moves online after adjusting
State measures third vibration information；
The computing unit 120 is also used to calculate third vibratory output based on the third vibration information；And based on described
Second vibratory output, the third vibratory output and the fixed amount calculate angle pair between two balance weights of the balancing head
The tangent value answered；Based on the first angle and first vibratory output and the tangent value, it is opposite to calculate the balancing head
In the angle adjusting parameter of the spaceborne rotating camera.
The measuring unit 110 can correspond to one or more sensors in the present embodiment, can be used for measuring described
The motion state of spaceborne rotating camera, to obtain first vibration information, the second vibration information and third vibration information etc..
Specifically can include: the sensor apparatus such as sensor or sensing circuit of the various detection motion states such as gyroscope, acceleration transducer
Equipment.
The computing unit 120 can correspond to one or more processors, can be used for calculating the various vibrations letter of detection
Breath obtains the various parameters such as vibratory output and fixed value.The processor can be central processing unit, microprocessor, Digital Signal Processing
Device or programmable array etc..,
The adjustment unit 130, can correspond to one or more Mechanical Drivens, can be used for adjusting positioned at balancing device
Relative angle of the balance weight relative to spaceborne rotating camera on balanced surface.The Mechanical Driven can include: rotating electric machine etc..
Optionally, the adjustment unit 130 is also used to that it is opposite to adjust the balance weight based on the angle adjusting parameter
In the relative angle of the spaceborne rotating camera；
The system also includes:
Judging unit requires item for judging whether the motion state of the spaceborne rotating camera after adjusting meets balance
Part；
The computing unit 120, be also used to the motion state when the spaceborne rotating camera adjusted be unsatisfactory for it is described
When balancing requirement condition, the motion state that the spaceborne rotating camera of measurement moves online is measured, the first vibration letter is reacquired
Breath, and the first vibration information based on reacquisition, recalculate the first vibratory output；It recalculates described in the balancing head two
The corresponding tangent value of angle between balance weight based on the first angle and the first vibratory output recalculated and recalculates
The tangent value recalculates angle adjusting parameter of the balancing head relative to the spaceborne rotating camera.
The judging unit in the present embodiment, equally can correspond to one or more processors, pass through logic judgment
Or whether the modes such as comparison of engineering value of vibration information of detection, completion that can be easy meet balance requirement condition,
In some embodiments, the judging unit is also used to the movement shape when the spaceborne rotating camera adjusted
When state meets the balance requirement condition, judge whether the moving equilibrium of the spaceborne rotating camera reaches predetermined balance quality；
The computing unit 120 is also used to when the moving equilibrium of the spaceborne rotating camera is not up to predetermined balance quality, measures institute
It states and measures the motion state that spaceborne rotating camera moves online, reacquire the first vibration information, and the based on reacquisition
One vibration information recalculates the first vibratory output；It is corresponding to recalculate angle between two balance weights of the balancing head
Tangent value；Based on the first angle and first vibratory output and the tangent value recalculated, recalculate described
Angle adjusting parameter of the balancing head relative to the spaceborne rotating camera.
Further, the computing unit 120 is specifically used for calculating first vibratory output, second using following formula
Vibratory output or third vibratory output；
Wherein, XsThe amplitude vector constituted for the vibration amplitude that s vibration information provides；The A is balance correction plane
The influence coefficient matrix of vibration information is obtained to test；The m is the quality of the balance weight；It is describedFor s Vibration Parameter
In one；It is describedFor another of the s Vibration Parameter；Wherein, the value of the s is 0,1 or 2, when taking for the s
When value is 0,WithFor first vibratory output；When the value of the s is 1,WithFor second vibratory output；When
When the value of the s is 2,WithFor the third vibratory output.
In the present embodiment by the vector operation, first vibratory output that can be later is described in the present embodiment
First vibratory output can include: the equal vector of two dimensionsWithIt constitutes.
Optionally, the computing unit 120 is specifically used for calculating the fixed amount t using following formula1And t2
Wherein,WithFor first vibratory output；WithFor second vibratory output；γ is the first angle.
In some embodiments, the computing unit 120 is used to calculate the tangent value Z using following formula1And Z2；
Wherein, describedWithFor first vibratory output；It is describedWithFor the third vibratory output；
The φ11Current angular for the first balance weight in the first balancing head relative to the spaceborne rotating camera；
The φ12Current angular for the second balance weight in the first balancing head relative to the spaceborne rotating camera；
The φ21Current angular for the first balance weight in the second balancing head relative to the spaceborne rotating camera；
The φ22Current angular for the second balance weight in the second balancing head relative to the spaceborne rotating camera.
Certainly, in further embodiments, the computing unit 120, described in being calculated using following formula
Angle adjusting parameter Δ11、Δ12、Δ21And Δ22；
Wherein, Z1And Z2For tangent value；t1And t2For the fixed amount；γ is the first angle；
It is describedWithFor first vibratory output；
The Δ11Angle adjustment amount for the first balance weight in the first balancing head relative to the spaceborne rotating camera；
The Δ12Angle adjustment amount for the second balance weight in the first balancing head relative to the spaceborne rotating camera；
The Δ21Angle adjustment amount for the first balance weight in the second balancing head relative to the spaceborne rotating camera；
The Δ22Angle adjustment amount for the second balance weight in the second balancing head relative to the spaceborne rotating camera.
The embodiment of the present invention also provides a kind of computer storage medium, and the computer storage medium is stored with computer journey
Sequence；The computer program can be realized aforementioned any one of spaceborne rotating camera on-line dynamic balancing after being executed by processor
The technical solution that control method provides is particularly used in execution such as Fig. 1 and/or method shown in Fig. 2.
The computer storage medium can for random storage medium, read-only storage medium, flash memory or mobile hard disk, CD or
The various storage mediums such as tape are chosen as non-moment storage medium.
Several specific examples are provided below in conjunction with any one above-mentioned embodiment:
Example one:
This example provides a kind of spaceborne rotating camera on-line dynamic balancing control method, it is based on being mounted on phase machine rotor or so
Two balancing heads by polar coordinate mode movement on end face, by the way that totally four circumferentially rotating for balance weight reach on two balancing heads of driving
To the purpose of control, can realize according to the following steps:
Step 1: the balance weight on each balancing head is motionless, and the vibration information of measuring point where sensor measurement calculates
First vibratory output of initial timeTheir calculation method is
In formula, X be each measuring point at vibrating sensor extract vibration amplitude constitute vector, A be correcting plane not
Aequum is to the influence coefficient matrix of test point, and m is balance weight quality, and r is distance of the balance weight with respect to shaft.
Step 2: two balance weights on balancing head rotate in same direction angle γ, new vibratory output X are measured, by the public affairs of step 1
Formula calculates the second vibratory output
Step 3: fixed amount t is calculated1,t2Value, their calculation method is
Step 4: two balance weights rotation-γ and-γ+π respectively measure new vibratory output X, based on the formula of step 1
Calculate third vibratory output
Step 5: for the current angle position φ of two balance weights on balancing head11, φ12And φ21, φ22It calculatesTheir calculation method are as follows:
Step 6: the adjustment angle Δ that two balance weights rotate on each balancing head is calculated11, Δ12And Δ21, Δ22, rotation
Balance weight, their calculation method are as follows:
Step 7: whether judging result, which meets balance, requires, if so, terminating equilibrium process, if otherwise continuing judgement is
It is no to have reached highest balance quality, if so, terminating, if it is not, then calculating the iteration variable Z of a new round1, Z2, return step
Five, it is iterated.Variable Z1, Z2Iterative formula are as follows:
Here the Z on the equation left side1' and Z2' it is the tangent amount being calculated again；And the Z on the right of equation1, Z2It is then again
Tangent amount before calculating.
This example provide spaceborne rotating camera balance Control Scheme method, by balancing head balance weight it is primary in the same direction
Rotation and primary counter-rotational method, in the case where initial position is unknown, balance weight is initial on accurate acquisition balancing head
Angle information, then Solving Algebraic Equation group, calculates the angle that balance weight relative initial position rotates on each balancing head, quickly
It determines optimal rotational angle, realizes preliminary balance；Further by recursive algorithm, the item known to preceding once balance result
Under part, according to the vibration amplitude information that preceding once balance is remaining, directly carries out resolving required iteration variable, control balance weight
The angle of rotation realizes accurate balance.The method of the invention can quickly and efficiently inhibit vibration noise, measurement error, control
The influence to balance quality such as error processed, simple and easy, convenience of calculation.
Example two:
As shown in figure 4, firstly, illustrate the improvement in technical solution that the previous example of this example provides, based on being mounted on
Two balancing heads by polar coordinate mode movement on phase machine rotor or so end face pass through totally four balance weights on two balancing heads of driving
Circumferentially rotate and achieve the purpose that control, z-axis is the axial direction of rotor shaft in Fig. 4, and the unbalance mass, of phase machine rotor is P, two
A balancing head is separately positioned on two end faces of phase machine rotor or so (as shown in figure 4, balance end face 1 and balance end face 2), each
Balancing head includes two balance weights, and balance weight is moved by polar coordinate mode.Balance weight can be on the face that shaft radius is r
It circumferentially rotates, the angle position of four balance weights is respectively φ11, φ12And φ21, φ22, when being balanced to system, balance weight
Given angle can respectively be rotated around the shaft according to given control instruction.It is average by the angle for changing two balance weights
Value α1,α2It can control the direction that balance weight generates total amount of unbalance, on the other hand, change the angle difference β of two balance weights1,
β2It can control the size that balance weight generates total amount of unbalance.
Example three:
As shown in figure 5, this example provides a kind of spaceborne rotating camera on-line dynamic balancing control method, comprising:
S1: vibratory output initial value (corresponding to aforementioned first vibratory output) is obtained by measuring and calculating；
S2: first time rotary balance block measures and calculates acquisition vibratory output (corresponding to aforementioned second vibratory output)；
S3: the value of fixed amount is calculated；
S4: second rotary balance block measures and calculates acquisition vibratory output (corresponding to aforementioned third vibratory output)；
S5: the current angular of calculated equilibrium block；
S6: the angle rotated needed for calculated equilibrium block；
S7: judge whether to meet balance requirement condition, if adjustment terminates, enter S8 if not:
S8: judging whether to reach full accuracy, if terminating, return step S5 if not.
By balance weight once rotate in same direction and primary counter-rotational method, in the case where initial position is unknown,
Accurately obtain the initial position message of two balance weights on each balancing head；Then Solving Algebraic Equation group calculates each balancing head
The angle of upper balance weight relative initial position rotation, quickly determines optimal rotational angle, realizes the balance of first time；Further
By recursive algorithm, under the conditions of known to the preceding once balance result, according to the vibration amplitude information that preceding once balance is remaining,
It directly carries out resolving required iteration variable, the angle of control balance weight rotation realizes accurate balance.
Example four:
A kind of specific steps of on-line dynamic balancing control method described in this example can are as follows:
Step 1: the balance weight of each balancing head is motionless, by the vibration of two measuring point of sensor measurement, calculates initial time
Vibratory output combination
Step 2: two balance weights rotate in same direction γ, measure new vibratory output, calculate vibratory output combination this moment
Step 3: fixed amount t is calculated1,t2Value.
Step 4: on the basis of step 2, two balance weights rotation-γ and-γ+π respectively measure new vibratory output,
Calculate vibratory output combination this moment
Step 5: for the angle position φ of two balance weights on balancing head11, φ12And φ21, φ22, calculate separately
Step 6: the angle delta that two balance weight relative initial positions rotate on each balancing head is calculated11, Δ12And Δ21,
Δ22.Rotary balance block.
Step 7: whether judging result, which meets balance, requires, if so, terminating equilibrium process, if otherwise continuing judgement is
It is no to have reached highest balance quality, if so, terminating, if it is not, then return step five, carry out next round iteration.
This example unlike an aforementioned example, in previous example in each step circular
For if the vibration amplitude vector extracted from sensor is X, the amount of unbalance of correcting plane is to the influence coefficient matrix of test point
A, balance weight quality be m, balance weight with respect to shaft distance be r, then in step 1 initial time vibratory output by look for following formula determine
Justice
The vibratory output of given initial time can be with after rotating in same direction any angle γ for balance weight each on balancing head
Vibration amplitude vector X this moment is extracted again by sensor, the value for updating X is brought into, so that it may obtain two in corresponding step 2
The combination of vibrations amount of a balancing head
Further, it is respectively as follows: corresponding to the fixed amount in step 3
As two balance weights rotation-γ and after-γ+π respectively, (formula 1) is updated to after measuring the moment new vibratory output
In, the combination of vibrations amount corresponded in step 4 can be obtained
If the angle position of each balance weight on two balancing heads is respectively φ11, φ12And φ21, φ22, then root at this time
It can calculate according to aforementioned result corresponding to step 5As described in following formula.
The intermediate variable that last COMPREHENSIVE CALCULATING obtains, the angle rotated required for each balance weight on two balancing heads can
With, it is calculated by following formula, solves equation, the angle parameter Δ of required rotation in available step 611, Δ12And Δ21, Δ22
It is after being balanced according to first time as a result, if necessary to return to step 5 in step 7, then a new round at this time
Iteration tangent amount iteration can be used formula (5) progress:
Here the Z on the equation left side1' and Z2' it is the tangent amount being calculated again；And the Z on the right of equation1, Z2It is then again
Tangent amount before calculating.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.Apparatus embodiments described above are merely indicative, for example, the division of the unit, only
A kind of logical function partition, there may be another division manner in actual implementation, such as: multiple units or components can combine, or
It is desirably integrated into another system, or some features can be ignored or not executed.In addition, shown or discussed each composition portion
Mutual coupling or direct-coupling or communication connection is divided to can be through some interfaces, the INDIRECT COUPLING of equipment or unit
Or communication connection, it can be electrical, mechanical or other forms.
Above-mentioned unit as illustrated by the separation member, which can be or may not be, to be physically separated, aobvious as unit
The component shown can be or may not be physical unit, it can and it is in one place, it may be distributed over multiple network lists
In member；Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can be fully integrated into a processing module, it can also
To be each unit individually as a unit, can also be integrated in one unit with two or more units；It is above-mentioned
Integrated unit both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned include: movable storage device, it is read-only
Memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or
The various media that can store program code such as person's CD.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (8)
1. a kind of spaceborne rotating camera on-line dynamic balancing control method characterized by comprising
Current location of the balancing head relative to spaceborne rotating camera is kept, the movement shape that spaceborne rotating camera moves online is measured
State, to obtain the first vibration information；
Based on first vibration information, the first vibratory output is calculated；
With first angle, relative angle of each balance weight relative to the spaceborne rotating camera in the balancing head is adjusted,
The motion state that the spaceborne rotating camera moves online is re-measured after the adjustment, measures the second vibration information；
Based on second vibration information, the second vibratory output is calculated；
Based on first vibratory output, second vibratory output and the first angle, fixed amount is calculated；
Relative angle of the balance weight relative to the spaceborne rotating camera in the balancing head is adjusted with second angle,
And relative angle of the balance weight of another in the balancing head relative to the spaceborne rotating camera is adjusted with third angle；
Wherein, opposite number, the sum of the third angle and the first angle are 180 degree each other for the first angle and second angle；
The motion state that the spaceborne rotating camera moves online is re-measured after adjustment, measures third vibration information；
Based on the third vibration information, third vibratory output is calculated；
Based on second vibratory output, the third vibratory output and the fixed amount, two balances of the balancing head are calculated
The corresponding tangent value of angle between block；
Based on the first angle and first vibratory output and the tangent value, the balancing head is calculated relative to the star
Carry the angle adjusting parameter of rotating camera；
Wherein, described to be based on first vibratory output, second vibratory output and the first angle, calculate fixed amount, comprising:
The fixed amount t is calculated using following formula1And t2
Wherein, f1 0And f2 0For first vibratory output；f1 1WithFor second vibratory output；γ is the first angle；
Wherein, described to be based on second vibratory output, the third vibratory output and the fixed amount, calculate the balancing head two
The corresponding tangent value of angle between the balance weight, comprising:
The tangent value Z is calculated using following formula1And Z2；
Wherein, the f1 0WithFor first vibratory output；The f1 2WithFor the third vibratory output；
The φ11Current angular for the first balance weight in the first balancing head relative to the spaceborne rotating camera；
The φ12Current angular for the second balance weight in the first balancing head relative to the spaceborne rotating camera；
The φ21Current angular for the first balance weight in the second balancing head relative to the spaceborne rotating camera；
The φ22Current angular for the second balance weight in the second balancing head relative to the spaceborne rotating camera；
Wherein, described to be based on the first angle and first vibratory output and the tangent value, calculate the balancing head phase
For the angle adjusting parameter of the spaceborne rotating camera, comprising:
The angle adjusting parameter Δ is calculated using following formula11、Δ12、Δ21And Δ22；
Wherein, Z1And Z2For tangent value；t1And t2For the fixed amount；γ is the first angle；
The f1 0WithFor first vibratory output；
The Δ11Angle adjustment amount for the first balance weight in the first balancing head relative to the spaceborne rotating camera；
The Δ12Angle adjustment amount for the second balance weight in the first balancing head relative to the spaceborne rotating camera；
The Δ21Angle adjustment amount for the first balance weight in the second balancing head relative to the spaceborne rotating camera；
The Δ22Angle adjustment amount for the second balance weight in the second balancing head relative to the spaceborne rotating camera.
2. the method according to claim 1, wherein
The method also includes:
Based on the angle adjusting parameter, relative angle of the balance weight relative to the spaceborne rotating camera is adjusted；
Judge whether the motion state of the spaceborne rotating camera after adjusting meets balance requirement condition；
When the motion state of the spaceborne rotating camera adjusted is unsatisfactory for the balance requirement condition, the measurement is measured
The motion state that spaceborne rotating camera moves online reacquires the first vibration information, and the based on reacquisition first vibration
Information recalculates the first vibratory output；
Recalculate the corresponding tangent value of angle between two balance weights of the balancing head；
Based on the first angle and the first vibratory output recalculated and the tangent value recalculated, institute is recalculated
State angle adjusting parameter of the balancing head relative to the spaceborne rotating camera.
3. according to the method described in claim 2, it is characterized in that,
The method also includes:
When the motion state of the spaceborne rotating camera adjusted meets the balance requirement condition, the spaceborne rotation is judged
Whether the moving equilibrium of phase inversion machine reaches predetermined balance quality；
When the moving equilibrium of the spaceborne rotating camera is not up to predetermined balance quality, the spaceborne rotating camera of measurement is measured
The motion state moved online reacquires the first vibration information, and the first vibration information based on reacquisition, recalculates
First vibratory output；
Recalculate the corresponding tangent value of angle between two balance weights of the balancing head；
Based on the first angle and the first vibratory output recalculated and the tangent value recalculated, institute is recalculated
State angle adjusting parameter of the balancing head relative to the spaceborne rotating camera.
4. method according to claim 1,2 or 3, which is characterized in that
First vibratory output, the second vibratory output or third vibratory output are calculated using following formula；
Wherein, XsThe amplitude vector constituted for the vibration amplitude that s vibration information provides；The A is balance correction plane to test
Obtain the influence coefficient matrix of vibration information；The m is the quality of the balance weight；The f1 sFor one in s Vibration Parameter
It is a；It is describedFor another of the s Vibration Parameter；Wherein, the value of the s is 0,1 or 2, when the value of the s is 0
When, f1 sWithFor first vibratory output；When the value of the s is 1, f1 sWithFor second vibratory output；As the s
Value be 2 when, f1 sWithFor the third vibratory output.
5. a kind of spaceborne rotating camera on-line dynamic balancing control system, which is characterized in that including measuring unit, computing unit and tune
Whole unit；
The measuring unit, for keeping balancing head to measure spaceborne rotating camera relative to the current location of spaceborne rotating camera
The motion state moved online, to obtain the first vibration information；
The computing unit calculates the first vibratory output for being based on first vibration information；
The adjustment unit adjusts in the balancing head each balance weight relative to the spaceborne rotation for first angle
The relative angle of phase inversion machine,
The measuring unit is also used to re-measure the motion state that the spaceborne rotating camera moves online after the adjustment, surveys
Two vibration information of flow control；
The computing unit is also used to calculate the second vibratory output based on second vibration information；Based on first vibration
Amount, second vibratory output and the first angle calculate fixed amount；
The adjustment unit is also used to a balance weight in the second angle adjustment balancing head relative to described spaceborne
The relative angle of rotating camera, and with another described balance weight in the third angle adjustment balancing head relative to described spaceborne
The relative angle of rotating camera；Wherein, the first angle and second angle opposite number each other, the third angle and described
The sum of one angle is 180 degree；
The measuring unit is also used to re-measure the motion state that the spaceborne rotating camera moves online after adjusting, measure
Third vibration information；
The computing unit is also used to calculate third vibratory output based on the third vibration information；And based on second vibration
Amount, the third vibratory output and the fixed amount, calculate the corresponding tangent of angle between two balance weights of the balancing head
Value；Based on the first angle and first vibratory output and the tangent value, the balancing head is calculated relative to the star
Carry the angle adjusting parameter of rotating camera；
The computing unit is specifically used for calculating the fixed amount t using following formula1And t2
Wherein, f1 0WithFor first vibratory output；f1 1WithFor second vibratory output；γ is the first angle；
The computing unit is specifically used for calculating the tangent value Z using following formula1And Z2；
Wherein, the f1 0WithFor first vibratory output；The f1 2And f1 2For the third vibratory output；
The φ11Current angular for the first balance weight in the first balancing head relative to the spaceborne rotating camera；
The φ12Current angular for the second balance weight in the first balancing head relative to the spaceborne rotating camera；
The φ21Current angular for the first balance weight in the second balancing head relative to the spaceborne rotating camera；
The φ22Current angular for the second balance weight in the second balancing head relative to the spaceborne rotating camera；
The computing unit calculates the angle adjusting parameter Δ also particularly useful for using following formula11、Δ12、Δ21And Δ22；
Wherein, Z1And Z2For tangent value；t1And t2For the fixed amount；γ is the first angle；
The f1 0WithFor first vibratory output；
The Δ11Angle adjustment amount for the first balance weight in the first balancing head relative to the spaceborne rotating camera；
The Δ12Angle adjustment amount for the second balance weight in the first balancing head relative to the spaceborne rotating camera；
The Δ21Angle adjustment amount for the first balance weight in the second balancing head relative to the spaceborne rotating camera；
The Δ22Angle adjustment amount for the second balance weight in the second balancing head relative to the spaceborne rotating camera.
6. system according to claim 5, which is characterized in that
The adjustment unit is also used to adjust the balance weight relative to the spaceborne rotation based on the angle adjusting parameter
The relative angle of camera；
The system also includes:
Judging unit, for judging whether the motion state of the spaceborne rotating camera after adjusting meets balance requirement condition；
The computing unit is also used to be unsatisfactory for the balance requirement when the motion state of the spaceborne rotating camera adjusted
When condition, the motion state that the spaceborne rotating camera of measurement moves online is measured, reacquires the first vibration information, and be based on
The first vibration information reacquired, recalculates the first vibratory output；Recalculate two balance weights of the balancing head it
Between the corresponding tangent value of angle；Based on the first angle and the first vibratory output recalculated and the tangent recalculated
Value, recalculates angle adjusting parameter of the balancing head relative to the spaceborne rotating camera.
7. system according to claim 6, which is characterized in that
The judging unit is also used to require item when the motion state of the spaceborne rotating camera adjusted meets the balance
When part, judge whether the moving equilibrium of the spaceborne rotating camera reaches predetermined balance quality；
The computing unit is also used to when the moving equilibrium of the spaceborne rotating camera is not up to predetermined balance quality, measurement
The motion state that the spaceborne rotating camera of measurement moves online, reacquires the first vibration information, and based on reacquisition
First vibration information recalculates the first vibratory output；It is corresponding to recalculate angle between two balance weights of the balancing head
Tangent value；Based on the first angle and the first vibratory output recalculated and the tangent value recalculated, count again
Calculate angle adjusting parameter of the balancing head relative to the spaceborne rotating camera.
8. according to system described in claim 5,6 or 7, which is characterized in that
The computing unit is specifically used for calculating first vibratory output, the second vibratory output or third vibration using following formula
Amount；
Wherein, XsThe amplitude vector constituted for the vibration amplitude that s vibration information provides；The A is balance correction plane to test
Obtain the influence coefficient matrix of vibration information；The m is the quality of the balance weight；The f1 sFor one in s Vibration Parameter
It is a；It is describedFor another of the s Vibration Parameter；Wherein, the value of the s is 0,1 or 2, when the value of the s is 0
When, f1 sWithFor first vibratory output；When the value of the s is 1, f1 sWithFor second vibratory output；As the s
Value be 2 when, f1 sWithFor the third vibratory output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710359146.9A CN107246935B (en) | 2017-05-19 | 2017-05-19 | Spaceborne rotating camera on-line dynamic balancing control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710359146.9A CN107246935B (en) | 2017-05-19 | 2017-05-19 | Spaceborne rotating camera on-line dynamic balancing control method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107246935A CN107246935A (en) | 2017-10-13 |
| CN107246935B true CN107246935B (en) | 2019-08-06 |
Family
ID=60017362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710359146.9A Active CN107246935B (en) | 2017-05-19 | 2017-05-19 | Spaceborne rotating camera on-line dynamic balancing control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107246935B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5713332A (en) * | 1980-06-30 | 1982-01-23 | Mitsubishi Heavy Ind Ltd | Monitor for balancing of rotating shaft |
| JPH02126128A (en) * | 1988-11-03 | 1990-05-15 | Oomiya Kogyo Kk | Method and device for correcting unbalance in rotating body device |
| JPH0552696A (en) * | 1991-08-26 | 1993-03-02 | Nissan Motor Co Ltd | Unbalance measurement equipment of rotor |
| CN102004016A (en) * | 2009-03-02 | 2011-04-06 | 通用汽车环球科技运作公司 | Shaft balancing system and methods |
| CN203785838U (en) * | 2014-02-26 | 2014-08-20 | 成都卓微科技有限公司 | Shafting dynamic balancing experimental device |
| CN104335713B (en) * | 2004-12-16 | 2015-04-29 | 上海卫星工程研究所 | A kind of utility appliance of instrumented satellite mass property and measuring method thereof |
-
2017
- 2017-05-19 CN CN201710359146.9A patent/CN107246935B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5713332A (en) * | 1980-06-30 | 1982-01-23 | Mitsubishi Heavy Ind Ltd | Monitor for balancing of rotating shaft |
| JPH02126128A (en) * | 1988-11-03 | 1990-05-15 | Oomiya Kogyo Kk | Method and device for correcting unbalance in rotating body device |
| JPH0552696A (en) * | 1991-08-26 | 1993-03-02 | Nissan Motor Co Ltd | Unbalance measurement equipment of rotor |
| CN104335713B (en) * | 2004-12-16 | 2015-04-29 | 上海卫星工程研究所 | A kind of utility appliance of instrumented satellite mass property and measuring method thereof |
| CN102004016A (en) * | 2009-03-02 | 2011-04-06 | 通用汽车环球科技运作公司 | Shaft balancing system and methods |
| CN203785838U (en) * | 2014-02-26 | 2014-08-20 | 成都卓微科技有限公司 | Shafting dynamic balancing experimental device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107246935A (en) | 2017-10-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20170123035A1 (en) | Autonomous magnetometer calibration | |
| CN108267792A (en) | Building global gravitational field model inversion method | |
| CN104755941B (en) | Method for making mobile device surface be aligned with the coordinate system of sensor | |
| CN107133387B (en) | The imbalance compensation method of rotor unbalance coefficient variable step polygon iterated search | |
| CN103339473A (en) | Inertial sensor aided heading and positioning for GNSS vehicle navigation | |
| CN103776587A (en) | Method for determining unbalance amounts of rotor | |
| CN107631738B (en) | Method for identifying imbalance of gyro flywheel couple | |
| CN109084806A (en) | Scalar domain MEMS inertia system scaling method | |
| CN108709956B (en) | Method and equipment for measuring atmospheric parameters based on falling ball positioning information | |
| CN109084761A (en) | Northern calculation method is sought in a kind of shock resistance based on inertia north finding device | |
| RU2694142C1 (en) | Method of balancing rotor in one correction plane | |
| CN112146683B (en) | Inertial measurement unit calibration parameter adjusting method and device and electronic equipment | |
| JP7382143B2 (en) | How to calibrate a balancing machine | |
| CN107246935B (en) | Spaceborne rotating camera on-line dynamic balancing control method and system | |
| WO2021122393A1 (en) | Method for balancing a rotor | |
| CN112698055A (en) | Parameter calibration method of accelerometer on precision centrifuge | |
| CN109033026B (en) | Calibration method and device for atmospheric density detection data | |
| CN107219039B (en) | Spaceborne rotating camera on-line dynamic balancing device and method | |
| JP2008175683A (en) | Apparatus for bias error prediction of sensor | |
| US11060941B2 (en) | Method for determining an unbalance of a shaft-elastic rotor with reference to the outward deflection | |
| CN110553669B (en) | Holder calibration method and calibration system | |
| RU2499985C1 (en) | Rotor balancing method in one correction plane | |
| CN113591403B (en) | Design method of spacecraft gravity-assist flight orbit | |
| CN109932131A (en) | Dynamic balancing antidote, terminal device and the storage medium of symmetric rotor | |
| CN113008273B (en) | Calibration method and device for inertial measurement unit of vehicle and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |